Abstract: A planetary gear apparatus whose gears are all constituted by continuous shifted gears. A backlash between the input sun gear and each of the input side planetary gears is adjusted by pressing a second carrier plate supporting each integrated pair of the input side planetary gears and the output side planetary gears and moving it in the axial length direction by a ball bearing by a screwing operation of an adjusting nut. A backlash between the output sun gear and each of the output side planetary gears is also adjusted by pressing the output sun gear and moving it in the axial length direction by the ball bearing by the screwing operation of the adjusting nut. Accordingly, the backlash of all meshing portions can be adjusted during or after completion of the assemblage.

Abstract: A vehicle steering apparatus comprises a rotation transmission mechanism 4 which connects a first shaft 3 connected to an operating member 2 with a second shaft 5 connected to vehicle wheels 9 so as to enable the rotation to be transmitted. An actuator 61 rotatably drives one of a plurality of rotation transmission elements in the rotation transmission mechanism 4. The control device 65 has a steady control mode in which the actuator 61 is controlled such that the rotation speed of one of the rotation transmission elements becomes equal to the determined rotation speed of the first shaft 3. The rotation transmission ratio becomes 1 when the rotation speed of one of the rotation transmission elements becomes equal to the rotation speed of the first shaft 3.

Abstract: A steering apparatus for automobiles having steering operating means which is not mechanically connected to a steering mechanism, a pair of steering motors provided to different positions in the steering mechanism, and a steering control unit for distributing a necessary steering force which is obtained on the basis of a deviation between an operating position of the steering operating means and an actual operating position of the steering mechanism in a prescribed ratio so as to determine target values of the outputs of the steering motors.

Abstract: A vehicle attitude control apparatus, wherein a corrected behavior index value for steering is determined in such a manner that the deviation between a target behavior index value for a vehicle and a corrected behavior index value for steering decreases, as an instability index value correlating to the amount of under-steer increases, and when the target behavior index value and the behavior index value are equal, the corrected behavior index value for steering is set to equal the behavior index value. A corrected behavior index value for braking is determined in such a manner that the deviation between the target behavior index value and a corrected behavior index value for braking increases, as the instability index value increases, and when the target behavior index value and the behavior index value are equal, the corrected behavior index value for braking is set to equal the behavior index value.

Abstract: A braking system for a motor vehicle is provided, which has an attitude control function. The system includes: a first attitude control circuit for stabilizing the behavior of the motor vehicle by controlling the operation of a steering mechanism of the motor vehicle; a second attitude control circuit for stabilizing the behavior of the motor vehicle by controlling a braking mechanism for applying a braking force to vehicle wheels of the motor vehicle; and a braking control circuit for causing the braking mechanism to generate a maximum braking force on condition that an attitude control is performed for the stabilization of the behavior of the motor vehicle by the first attitude control circuit when a braking command is inputted thereto.

Abstract: In a steering device for vehicle, the movement of a steering actuator, which is driven in accordance with the rotating operation of an operating member, is transmitted to the vehicle wheels such that the steering angle changes without mechanically coupling the operating member to the wheels. A target yaw rate, which accords with a load torque, that is sum of the control torque generated by an operating actuator and driver operating torque, and an operating angle of the operating member resulting from the functioning of this load torque, are computed. The steering actuator is controlled such that the vehicle yaw rate follows the target yaw rate. The operating actuator is controlled such that the operating angle follows a target operating angle of the operating member corresponding to a behavior index value comprising at least yaw rate of the vehicle.

Abstract: A motor vehicle steering system is provided which includes: an operation member for steering a motor vehicle; a steering mechanism for turning steerable wheels of the motor vehicle; a first actuator and a second actuator each operative to apply a driving force to the steering mechanism; and a clutch mechanism operative to mechanically engage and disengage the operation member to or from the steering mechanism. When the first and second actuators operate normally, the clutch mechanism is brought into the disengaged state, and a driving force is applied to the steering mechanism from the first and second actuators and, when one of the first and second actuators malfunctions, the clutch mechanism is brought into the engaged state, and the steering assist force is generated by the other normal actuator in accordance with the operation of the operation member.

Abstract: In a vehicle attitude control apparatus, a steering actuator is controlled so that a steering angle matches a target steering angle. In an understeer condition; the braking force on the inside wheels is increased and drive power applied to the outside wheels is larger than applied to inside wheels. In an oversteer condition, the braking force on the outside wheels is increased and drive power applied to the inside wheels is larger than applied to outside wheels. The steering actuator is controlled so that a behavior index value corresponding to the change in the vehicle'behavior, that occurs based on the change in the steering angle, matches a target behavior index value that reflects the amount of operation of an operation member. A vehicle yaw moment and an amount of control of the steering actuator vary due to steer conditions, wheel lateral slip angle and brake force control.

Abstract: In a steering device for a vehicle, the movement of a steering actuator driven by operation of an operating member is transmitted to vehicle wheels, in such a manner that the steering angle changes, without the operating member being coupled mechanically to the vehicle wheels. A first target yaw rate is calculated in accordance with the detected vehicle speed and a first steering angle set value, which corresponds to the detected amount of operation and vehicle speed. A second target yaw rate corresponding to the detected lateral acceleration and vehicle speed is calculated. A second steering angle set value, which corresponds to the difference between the detected yaw rate and a target yaw rate, as which the first target yaw rate or the second target yaw rate whichever has the smaller absolute value is taken, is calculated.

Abstract: A motor vehicle steering system is provided which includes: an operation member for steering a motor vehicle; a steering mechanism for turning steerable wheels of the motor vehicle; a first actuator and a second actuator each operative to apply a driving force to the steering mechanism; and a clutch mechanism operative to mechanically engage and disengage the operation member to or from the steering mechanism. When the first and second actuators operate normally, the clutch mechanism is brought into the disengaged state, and a driving force is applied to the steering mechanism from the first and second actuators and, when one of the first and second actuators malfunctions, the clutch mechanism is brought into the engaged state, and the steering assist force is generated by the other normal actuator in accordance with the operation of the operation member.

Abstract: An electric power steering system, which controls an electric motor on the basis of a target electric current determined in accordance with a steering torque and applies a driving force from the electric motor to a steering mechanism. The system includes: a steering torque sensor; a target current setting circuit for determining the target electric current in accordance with the steering torque on the basis of an assist characteristic indicative of a relationship between the steering torque and the target electric current; a motor controlling circuit for controlling the electric motor on the basis of the target electric current; a traveling state judging circuit for judging whether or not a motor vehicle is in a slalom traveling state; and an assist characteristic modifying circuit for offsetting the assist characteristic from an initial characteristic level when the motor vehicle is in the slalom traveling state.

Abstract: An electric power steering system which assists a steering operation by controlling an electric motor on the basis of a target electric current determined in accordance with a steering torque applied to an operation member and applying a driving force to a steering mechanism from the electric motor. The system includes steering torque detecting section; target electric current determining circuit for determining a target electric current in accordance with the steering torque on the basis of an assist characteristic; and motor controlling circuit for controlling the electric motor on the basis of the target electric current. The assist characteristic is offset from an initial characteristic when a motor vehicle incorporating the system is in a predetermined turning state.

Abstract: A braking system for a motor vehicle is provided, which has an attitude control function. The system includes: a first attitude control circuit for stabilizing the behavior of the motor vehicle by controlling the operation of a steering mechanism of the motor vehicle; a second attitude control circuit for stabilizing the behavior of the motor vehicle by controlling a braking mechanism for applying a braking force to vehicle wheels of the motor vehicle; and a braking control circuit for causing the braking mechanism to generate a maximum braking force on condition that an attitude control is performed for the stabilization of the behavior of the motor vehicle by the first attitude control circuit when a braking command is inputted thereto.

Abstract: A steering device for vehicles transmits steering torque applied by the driver to wheels. When at least one of braking force and driving force of the wheels is controlled for stabilization of vehicle behavior, steering torque is controlled to cancel out change in the steering torque due to the stabilization according to change in at least one of the braking force and driving force due to the control for the stabilization.

Abstract: A motor vehicle steering system for controlling driving of a steering mechanism of a motor vehicle is provided. The system includes: a brake actuation detecting circuit for detecting actuation of a braking mechanism of the motor vehicle; a speed comparing circuit for judging which of left and right wheels of the motor vehicle has a higher wheel speed; a speed judging circuit for judging whether or not a speed difference between the left and right wheels of the motor vehicle exceeds a predetermined threshold value; and a steering control circuit for controlling the steering mechanism.

Abstract: A vehicle attitude control apparatus, wherein a corrected behavior index value for steering is determined in such a manner that the deviation between a target behavior index value for a vehicle and a corrected behavior index value for steering decreases, as an instability index value correlating to the amount of under-steer increases, and when the target behavior index value and the behavior index value are equal, the corrected behavior index value for steering is set to equal the behavior index value. A corrected behavior index value for braking is determined in such a manner that the deviation between the target behavior index value and a corrected behavior index value for braking increases, as the instability index value increases, and when the target behavior index value and the behavior index value are equal, the corrected behavior index value for braking is set to equal the behavior index value.

Abstract: In a steering device for a vehicle, the movement of a steering actuator driven by operation of an operating member is transmitted to vehicle wheels, in such a manner that the steering angle changes, without the operating member being coupled mechanically to the vehicle wheels. A first target yaw rate is calculated in accordance with the detected vehicle speed and a first steering angle set value, which corresponds to the detected amount of operation and vehicle speed. A second target yaw rate corresponding to the detected lateral acceleration and vehicle speed is calculated. A second steering angle set value, which corresponds to the difference between the detected yaw rate and a target yaw rate, as which the first target yaw rate or the second target yaw rate whichever has the smaller absolute value is taken, is calculated.

Abstract: An electric power steering system, which controls an electric motor on the basis of a target electric current determined in accordance with a steering torque and applies a driving force from the electric motor to a steering mechanism. The system includes: a steering torque sensor; a target current setting circuit for determining the target electric current in accordance with the steering torque on the basis of an assist characteristic indicative of a relationship between the steering torque and the target electric current; a motor controlling circuit for controlling the electric motor on the basis of the target electric current; a traveling state judging circuit for judging whether or not a motor vehicle is in a slalom traveling state; and an assist characteristic modifying circuit for offsetting the assist characteristic from an initial characteristic level when the motor vehicle is in the slalom traveling state.

Abstract: In a steering device for vehicle, the movement of a steering actuator, which is driven in accordance with the rotating operation of an operating member, is transmitted to the vehicle wheels such that the steering angle changes without mechanically coupling the operating member to the wheels. A target yaw rate, which accords with a load torque, that is sum of the control torque generated by an operating actuator and driver operating torque, and an operating angle of the operating member resulting from the functioning of this load torque, are computed. The steering actuator is controlled such that the vehicle yaw rate follows the target yaw rate. The operating actuator is controlled such that the operating angle follows a target operating angle of the operating member corresponding to a behavior index value comprising at least yaw rate of the vehicle.

Abstract: A steering apparatus for a vehicle comprising a calculating means for calculating a target value for the reaction force torque on the basis of a self-aligning torque term which is based on a detected value of a vehicle speed and a detected value of an actual moved position of a steering mechanism, an elastic resistance torque term which is proportional to a deviation between a detected value of the steering operating angle of a steering operating means mechanically not connected to the steering mechanism and a detected value of the actual moved position, and an inertial resistance torque term which is proportional to a time varying amount of the deviation, and the reaction force of the steering operating means is controlled by driving a reaction force motor on the basis of the calculated target value.